9 #ifndef TRangeImageFilter_H 10 #define CObservation3DRangeScan_H 47 inline bool do_range_filter(
size_t r,
size_t c,
const float D)
const;
59 bool pass_gt=
true, pass_lt=
true;
60 bool has_min_filter =
false, has_max_filter =
false;
64 has_min_filter =
true;
75 if (has_min_filter && has_max_filter) {
78 else return pass_gt && pass_lt;
Mainly for internal use within CObservation3DRangeScan::project3DPointsFromDepthImageInto() ...
const mrpt::math::CMatrix * rangeMask_min
(Default: NULL) If provided, each data range will be tested to be greater-than (rangeMask_min) or les...
TRangeImageFilterParams()
Used in CObservation3DRangeScan::project3DPointsFromDepthImageInto()
TRangeImageFilter(const TRangeImageFilterParams &filter_params)
TRangeImageFilterParams fp
bool mark_invalid_ranges
If enabled, the range pixels of points that do NOT pass the mask filter will be marked as invalid ran...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
GLdouble GLdouble GLdouble r
const mrpt::math::CMatrix * rangeMask_max
This class is a "CSerializable" wrapper for "CMatrixFloat".
bool do_range_filter(size_t r, size_t c, const float D) const
Returns true if the point (r,c) with depth D passes all filters.
bool rangeCheckBetween
Only used if both rangeMask_min and rangeMask_max are present.